test-mp2p_error_terms_jacobians.cpp File Reference

Unit tests for Jacobians of error terms. More...

#include <mp2p_icp/errorTerms.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/math/num_jacobian.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/random.h>
#include <Eigen/Dense>
#include <iostream>

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Functions
int	main ([[maybe_unused]] int argc, [[maybe_unused]] char **argv)
static double	normald (const double sigma)
static float	normalf (const float sigma)
static void	test_against_ground_truth_error_point2line ()
static void	test_error_line2line ()
static void	test_Jacob_error_line2line ()
static void	test_Jacob_error_plane2plane ()
static void	test_Jacob_error_point2line ()
static void	test_Jacob_error_point2plane ()
static void	test_Jacob_error_point2point ()

Variables
auto &	rnd = mrpt::random::getRandomGenerator()

Detailed Description

Unit tests for Jacobians of error terms.

Author

Francisco Jose Mañas Alvarez, Jose Luis Blanco Claraco

Date

Apr 10, 2020

Definition in file test-mp2p_error_terms_jacobians.cpp.

Function Documentation

main()

int main	(	[[maybe_unused] ] int	argc,
		[[maybe_unused] ] char **	argv
	)

Definition at line 517 of file test-mp2p_error_terms_jacobians.cpp.

normald()

static double normald ( const double  sigma )

static

Definition at line 30 of file test-mp2p_error_terms_jacobians.cpp.

normalf()

static float normalf ( const float  sigma )

static

Definition at line 34 of file test-mp2p_error_terms_jacobians.cpp.

test_against_ground_truth_error_point2line()

static void test_against_ground_truth_error_point2line ( )

static

Definition at line 495 of file test-mp2p_error_terms_jacobians.cpp.

test_error_line2line()

static void test_error_line2line ( )

static

Definition at line 412 of file test-mp2p_error_terms_jacobians.cpp.

test_Jacob_error_line2line()

static void test_Jacob_error_line2line ( )

static

Definition at line 260 of file test-mp2p_error_terms_jacobians.cpp.

test_Jacob_error_plane2plane()

static void test_Jacob_error_plane2plane ( )

static

Definition at line 336 of file test-mp2p_error_terms_jacobians.cpp.

test_Jacob_error_point2line()

static void test_Jacob_error_point2line ( )

static

Definition at line 107 of file test-mp2p_error_terms_jacobians.cpp.

test_Jacob_error_point2plane()

static void test_Jacob_error_point2plane ( )

static

Definition at line 187 of file test-mp2p_error_terms_jacobians.cpp.

test_Jacob_error_point2point()

static void test_Jacob_error_point2point ( )

static

Definition at line 43 of file test-mp2p_error_terms_jacobians.cpp.

Variable Documentation

rnd

auto& rnd = mrpt::random::getRandomGenerator()

Definition at line 28 of file test-mp2p_error_terms_jacobians.cpp.